RobOptim: an Optimization Framework for Robotics

Abstract : Numerical optimization is useful for various areas of robotics. However tackling optimization problems properly requires the use of non-trivial algorithms whose tuning is challenging. RobOptim aims at providing a unified framework for different categories of optimization problems while relying on strong C++ typing to ensure efficient and correct computations. This paper presents this software, demonstrates its genericity and illustrates current use by two full scale robotics examples.
Document type :
Conference papers
Liste complète des métadonnées

Cited literature [11 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-00802083
Contributor : Thomas Moulard <>
Submitted on : Tuesday, March 19, 2013 - 8:02:57 AM
Last modification on : Friday, April 12, 2019 - 4:23:48 PM
Document(s) archivé(s) le : Sunday, April 2, 2017 - 2:40:08 PM

Files

Identifiers

  • HAL Id : hal-00802083, version 1

Citation

Thomas Moulard, Florent Lamiraux, Karim Bouyarmane, Eiichi Yoshida. RobOptim: an Optimization Framework for Robotics. Robomec, May 2013, Tsukuba, Japan. 4p. ⟨hal-00802083⟩

Share

Metrics

Record views

544

Files downloads

806